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quaternion conversions to and from matrix4 no longer invert rotations. Define IRR_TEST_BROKEN_QUATERNION_USE in quaternion.h allows compile-tests to find affected code (see changes.txt for more info). Loaders for b3d, ms3d, ogre and .X just use transposed matrixes now for downward compatibility - meaning if it worked before it still works - if it was broken before it's still broken. Same for CSkinnedMesh. For collada (.dae) loader this fixed previously wrong rotations. 

git-svn-id: svn://svn.code.sf.net/p/irrlicht/code/trunk@4276 dfc29bdd-3216-0410-991c-e03cc46cb475
master
cutealien 2012-08-14 19:12:49 +00:00
parent 1cc1271e9b
commit 26f44f6f48
8 changed files with 55 additions and 29 deletions
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5
changes.txt
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@ -1,5 +1,10 @@
Changes in 1.8 (??.??.2011)
- quaternion conversions to and from matrix4 no longer invert rotations.
To test if your code was affected by this you can set IRR_TEST_BROKEN_QUATERNION_USE in quaternion.h and try to compile your application.
Then on all compile-errors when you pass the matrix to the quaternion you can replace the matrix transposed matrix.
For all errors you get on getMatrix() you can use quaternion::getMatrix_transposed instead.
- CGUIEnvironment::loadGui - loading a gui into a target-element no longer messes up when the gui-file contained guienvironment serialization.
- Colladawriter now exports materials per node when those are used in Irrlicht

4
include/IAnimatedMeshMD3.h
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@ -166,10 +166,6 @@ namespace scene
SMD3QuaternionTag( const core::stringc& name )
: Name ( name ) {}
// construct from a matrix
SMD3QuaternionTag ( const core::stringc& name, const core::matrix4 &m )
: Name(name), position(m.getTranslation()), rotation(m) {}
// construct from a position and euler angles in degrees
SMD3QuaternionTag ( const core::vector3df &pos, const core::vector3df &angle )
: position(pos), rotation(angle * core::DEGTORAD) {}

49
include/quaternion.h
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@ -10,6 +10,11 @@
#include "matrix4.h"
#include "vector3d.h"
// Between Irrlicht 1.7 and Irrlicht 1.8 the quaternion-matrix conversions got fixed.
// This define disables all involved functions completely to allow finding all places
// where the wrong conversions had been in use.
#define IRR_TEST_BROKEN_QUATERNION_USE 0
namespace irr
{
namespace core
@ -34,8 +39,10 @@ class quaternion
//! Constructor which converts euler angles (radians) to a quaternion
quaternion(const vector3df& vec);
#if !IRR_TEST_BROKEN_QUATERNION_USE
//! Constructor which converts a matrix to a quaternion
quaternion(const matrix4& mat);
#endif
//! Equalilty operator
bool operator==(const quaternion& other) const;
@ -46,8 +53,10 @@ class quaternion
//! Assignment operator
inline quaternion& operator=(const quaternion& other);
#if !IRR_TEST_BROKEN_QUATERNION_USE
//! Matrix assignment operator
inline quaternion& operator=(const matrix4& other);
#endif
//! Add operator
quaternion operator+(const quaternion& other) const;
@ -89,8 +98,10 @@ class quaternion
//! Normalizes the quaternion
inline quaternion& normalize();
#if !IRR_TEST_BROKEN_QUATERNION_USE
//! Creates a matrix from this quaternion
matrix4 getMatrix() const;
#endif
//! Creates a matrix from this quaternion
void getMatrix( matrix4 &dest, const core::vector3df &translation ) const;
@ -185,13 +196,13 @@ inline quaternion::quaternion(const vector3df& vec)
set(vec.X,vec.Y,vec.Z);
}
#if !IRR_TEST_BROKEN_QUATERNION_USE
// Constructor which converts a matrix to a quaternion
inline quaternion::quaternion(const matrix4& mat)
{
(*this) = mat;
}
#endif
// equal operator
inline bool quaternion::operator==(const quaternion& other) const
@ -218,7 +229,7 @@ inline quaternion& quaternion::operator=(const quaternion& other)
return *this;
}
#if !IRR_TEST_BROKEN_QUATERNION_USE
// matrix assignment operator
inline quaternion& quaternion::operator=(const matrix4& m)
{
@ -229,9 +240,9 @@ inline quaternion& quaternion::operator=(const matrix4& m)
const f32 scale = sqrtf(diag) * 2.0f; // get scale from diagonal
// TODO: speed this up
X = ( m(2,1) - m(1,2)) / scale;
Y = ( m(0,2) - m(2,0)) / scale;
Z = ( m(1,0) - m(0,1)) / scale;
X = ( m(1,2) - m(2,1)) / scale;
Y = ( m(2,0) - m(0,2)) / scale;
Z = ( m(0,1) - m(1,0)) / scale;
W = 0.25f * scale;
}
else
@ -244,9 +255,9 @@ inline quaternion& quaternion::operator=(const matrix4& m)
// TODO: speed this up
X = 0.25f * scale;
Y = (m(0,1) + m(1,0)) / scale;
Z = (m(2,0) + m(0,2)) / scale;
W = (m(2,1) - m(1,2)) / scale;
Y = (m(1,0) + m(0,1)) / scale;
Z = (m(0,2) + m(2,0)) / scale;
W = (m(1,2) - m(2,1)) / scale;
}
else if ( m(1,1) > m(2,2))
{
@ -255,10 +266,10 @@ inline quaternion& quaternion::operator=(const matrix4& m)
const f32 scale = sqrtf( 1.0f + m(1,1) - m(0,0) - m(2,2)) * 2.0f;
// TODO: speed this up
X = (m(0,1) + m(1,0) ) / scale;
X = (m(1,0) + m(0,1) ) / scale;
Y = 0.25f * scale;
Z = (m(1,2) + m(2,1) ) / scale;
W = (m(0,2) - m(2,0) ) / scale;
Z = (m(2,1) + m(1,2) ) / scale;
W = (m(2,0) - m(0,2) ) / scale;
}
else
{
@ -267,16 +278,16 @@ inline quaternion& quaternion::operator=(const matrix4& m)
const f32 scale = sqrtf( 1.0f + m(2,2) - m(0,0) - m(1,1)) * 2.0f;
// TODO: speed this up
X = (m(0,2) + m(2,0)) / scale;
Y = (m(1,2) + m(2,1)) / scale;
X = (m(2,0) + m(0,2)) / scale;
Y = (m(2,1) + m(1,2)) / scale;
Z = 0.25f * scale;
W = (m(1,0) - m(0,1)) / scale;
W = (m(0,1) - m(1,0)) / scale;
}
}
return normalize();
}
#endif
// multiplication operator
inline quaternion quaternion::operator*(const quaternion& other) const
@ -320,15 +331,15 @@ inline quaternion quaternion::operator+(const quaternion& b) const
return quaternion(X+b.X, Y+b.Y, Z+b.Z, W+b.W);
}
#if !IRR_TEST_BROKEN_QUATERNION_USE
// Creates a matrix from this quaternion
inline matrix4 quaternion::getMatrix() const
{
core::matrix4 m;
getMatrix_transposed(m);
getMatrix(m, core::vector3df(0,0,0));
return m;
}
#endif
/*!
Creates a matrix from this quaternion

3
source/Irrlicht/CB3DMeshFileLoader.cpp
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@ -177,7 +177,8 @@ bool CB3DMeshFileLoader::readChunkNODE(CSkinnedMesh::SJoint *inJoint)
positionMatrix.setTranslation( joint->Animatedposition );
core::matrix4 scaleMatrix;
scaleMatrix.setScale( joint->Animatedscale );
core::matrix4 rotationMatrix = joint->Animatedrotation.getMatrix();
core::matrix4 rotationMatrix;
joint->Animatedrotation.getMatrix_transposed(rotationMatrix);
joint->LocalMatrix = positionMatrix * rotationMatrix * scaleMatrix;

4
source/Irrlicht/CMS3DMeshFileLoader.cpp
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@ -501,7 +501,9 @@ bool CMS3DMeshFileLoader::load(io::IReadFile* file)
tmpMatrix=jnt->LocalMatrix*tmpMatrix;
k->rotation = core::quaternion(tmpMatrix);
// IRR_TEST_BROKEN_QUATERNION_USE: TODO - switched from tmpMatrix to tmpMatrix.getTransposed() for downward compatibility.
// Not tested so far if this was correct or wrong before quaternion fix!
k->rotation = core::quaternion(tmpMatrix.getTransposed());
}
// get translation keyframes

11
source/Irrlicht/COgreMeshFileLoader.cpp
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@ -773,7 +773,10 @@ void COgreMeshFileLoader::composeObject(void)
ISkinnedMesh::SJoint* joint = m->addJoint();
joint->Name=Skeleton.Bones[i].Name;
joint->LocalMatrix = Skeleton.Bones[i].Orientation.getMatrix();
// IRR_TEST_BROKEN_QUATERNION_USE: TODO - switched to getMatrix_transposed instead of getMatrix for downward compatibility.
// Not tested so far if this was correct or wrong before quaternion fix!
Skeleton.Bones[i].Orientation.getMatrix_transposed(joint->LocalMatrix);
if (Skeleton.Bones[i].Scale != core::vector3df(1,1,1))
{
core::matrix4 scaleMatrix;
@ -823,7 +826,11 @@ void COgreMeshFileLoader::composeObject(void)
poskey->position=keyjoint->LocalMatrix.getTranslation()+frame.Position;
ISkinnedMesh::SRotationKey* rotkey = m->addRotationKey(keyjoint);
rotkey->frame=frame.Time*25;
rotkey->rotation=core::quaternion(keyjoint->LocalMatrix)*frame.Orientation;
// IRR_TEST_BROKEN_QUATERNION_USE: TODO - switched from keyjoint->LocalMatrix to keyjoint->LocalMatrix.getTransposed() for downward compatibility.
// Not tested so far if this was correct or wrong before quaternion fix!
rotkey->rotation=core::quaternion(keyjoint->LocalMatrix.getTransposed())*frame.Orientation;
ISkinnedMesh::SScaleKey* scalekey = m->addScaleKey(keyjoint);
scalekey->frame=frame.Time*25;
scalekey->scale=frame.Scale;

4
source/Irrlicht/CSkinnedMesh.cpp
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@ -167,7 +167,9 @@ void CSkinnedMesh::buildAllLocalAnimatedMatrices()
{
joint->GlobalSkinningSpace=false;
joint->LocalAnimatedMatrix=joint->Animatedrotation.getMatrix();
// IRR_TEST_BROKEN_QUATERNION_USE: TODO - switched to getMatrix_transposed instead of getMatrix for downward compatibility.
// Not tested so far if this was correct or wrong before quaternion fix!
joint->Animatedrotation.getMatrix_transposed(joint->LocalAnimatedMatrix);
// --- joint->LocalAnimatedMatrix *= joint->Animatedrotation.getMatrix() ---
f32 *m1 = joint->LocalAnimatedMatrix.pointer();

4
source/Irrlicht/CXMeshFileLoader.cpp
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@ -1877,8 +1877,10 @@ bool CXMeshFileLoader::parseDataObjectAnimationKey(ISkinnedMesh::SJoint *joint)
ISkinnedMesh::SRotationKey *keyR=AnimatedMesh->addRotationKey(joint);
keyR->frame=time;
keyR->rotation= core::quaternion(mat);
// IRR_TEST_BROKEN_QUATERNION_USE: TODO - switched from mat to mat.getTransposed() for downward compatibility.
// Not tested so far if this was correct or wrong before quaternion fix!
keyR->rotation= core::quaternion(mat.getTransposed());
ISkinnedMesh::SPositionKey *keyP=AnimatedMesh->addPositionKey(joint);
keyP->frame=time;